atrv-jr. interface human-robot interaction: a straw man approach to interface iteration

ATRV-Jr. Interface Human-Robot Interaction: A Straw Man approach to Interface Iteration

Rachel Mulcrone

Mills College

Goal

Improve the INEEL Interface

GoalIn other words . . .

• A usable and strong interface specialized for Urban Search and Rescue of competition caliber folding in unique and novel functions and features that improve the experience for the end user and ultimately, improve performance.

Overview

BackgroundCompetitor InterfacesInterface designFuture Directions

Background Search and Rescue Human-Robot Interaction Human-Computer Interaction

Background:Search and RescueNational Institute of Standards and

Technology (NIST)– 2003 IJCAI AAAI

• 1st INEEL• 2nd Swarthmore

Background:Search and RescueSome known HRI issues in USAR

– Bumping (Over 40% rear hits)– Camera pan awareness– Situation awareness– Pitch and roll

Background: HRI

TaxonomyHuman-robot interaction currently takes many forms. Dangerous tasks, such as urban search and rescue [Casper 2002, Casper and Murphy 2002] and hazardous material clean up [Bruemmer, Marble and Dudenhoffer 2002], require a human operator to be removed from the physical location of the robot. Robots that assist the elderly [Haigh and Yanco 2002] and the handicapped [Mittal et al. 1998] share the same physical space with their users, often transporting them through the world. Others, such as Sony’s Aibo, provide entertainment and companionship for people

• Yanco and Drury (2002)

Background: HCI

Evaluation methods– Testing 3-5 Subjects

– Nielson

HCI ModelsMental Models

• User’s understanding of how a system works.

System Models

• Way the system works from programmers perspective.

Design Model

• The way the designer represents the system to the user.

Norman

Interface Design

Survey of selected USAR competitors

UMass Lowell

Rochester - IJCAI/AAAI 2003

Map

Rochester - IJCAI/AAAI 2003

Surroundings: terrain and obstacles

Distracting colors: map relative to video

Readability: black on white vs white on black

Swarthmore - IJCAI/AAAI 2003

Swarthmore - IJCAI/AAAI 2003

Window managementDevelopment tools

New Orleans - IJCAI/AAAI 2003

New Orleans - IJCAI/AAAI 2003

Window managementSmall video

Mitre - AAAI 2004 (screenshot from Robocup 2003)

Mitre - AAAI 2004 Multi-step controls for simple tasks

INEEL - IJCAI/AAAI 2003

INEEL - IJCAI/AAAI 2003 TMIControlUser Experience (final runs)

% Map and Video %

% Map and Video %

New Orleans Video: 9.11%Map 20.79%

Swarthmore Video: 14.57%Map 13.98%

Rochester Video: 25.3%Map 45.46%

Mitre Video: 8.72%Map 57.43%

% Map and Video %

% Map and Video %

INEEL Video: 10.18%Map 8.26%

% Map and Video %

% Map and Video %

UMass Lowell Video: 26.96%Map 18.89%

%Map and Video Summary%

Video Map

MITRE 9% 57%ROCH. 25% 45%NEW O. 9% 21%SWATH. 15% 14%INEEL 10% 8%UMASS 27% 19%

Interface Design: UMass Lowell

QuickTime™ and aTIFF (LZW) decompressor

are needed to see this picture.

Interface Design: UMass Lowell

Interface Design: UMass LowellCamera tilt and pan overlayRear cameraControlsResponsive interface

Interface Design: UMass LowellTo test:

– Camera positioning– Rear front toggle (animation)– Map– Sonars

Resources

This Presentation and my DMP website:– www.mercury.cs.uml.edu/~rmulcron

Human-Computer Interaction– Jakob Neilson’s Use It site

• www.useit.com

– Donald Norman’s jnd.org • www.jnd.org

NIST USAR site– http://www.isd.mel.nist.gov/projects/USAR/

Thank You

Holly, Brenden, Bobby, Marbella, Andrew, Mike, and

Phil for a great summer.